A canonical problem in bipedal robots is how to design a closed-loop system
that generates stable, periodic motions (i.e., limit cycles). Some of the
inherent difficulties facing the control engineer include the intermittent
nature of the contact conditions with the ground, the many degrees of freedom
in the mechanisms, and underactuation.

This presentation summarizes recent theoretical advances that allow the
systematic design of provably, asymptotically stable, walking and running
gaits in underactuated, planar, bipedal robots. The presentation is liberally
illustrated with graphics and videos that explain and support the underlying theory.

Biography:

Jessy W. Grizzle has been with the Electrical Engineering and Computer Science Department
of the University of Michigan since 1987. Though trained as a nonlinear control theoretician,
he holds fourteen patents in the automotive industry dealing with emissions reduction and fuel economy enhancement through improved controller design. His current interest in bipedal locomotion grew out of a sabbatical in Strasbourg, France in late 1998.
You can read about his latest work here: